page 49
For setting the baud rate the following parameters are allowed:
Retentive data
Via the manufacturer-specific area of the object directory it is
possible to transfer a max. 256-byte data block to the R 360
slave by means of SDO_WRITE. These data are stored in the
flash memory in a non-volatile way and can be further
processed in the application program via the retain addresses
%MB0 ... %MB255 (%MW0 ... %MW127). Thus this data area
is available as freely defined parameter set.
PDOs
In the "predefined connection set” to CiA DS 401 the first two
RX and TX PDOs are defined depending on the node number.
With these PDOs 16 data bytes each can be sent and received.
If more PDOs are required, they must be "manually" defined in
the application program by means of the functions
PDO_RX_CONFIG and PDO_TX_CONFIG. The identifiers
must then be assigned in rising order from 380 hex. If the
"predefined connection set" is not used, the COB IDs for PDO 1
and PDO 2 must also start from 380 hex. A total of 2 x 8 PDOs
can be set up.
Since the COB IDs for the PDOs are not stored (exception
PDO 1 and 2 in the "predefined connection set") they must be
re-initialized
once
for all PDOs in the initialization routine after
each start of the plc. In principle, the PDO IDs which are not
included in the "predefined connection set" have the same
default in all devices (RX PDOs from 380 hex, TX PDOs from
388 hex). They must therefore be reconfigured with
PDO_TX/RX_CONFIG if several R 360 slaves are used.
Otherwise there would be conflicts with the IDs.
RX-PDO ID TX-PDO ID
RX-PDO 1 pred. c. set TX-PDO 1 pred. c. set
RX-PDO 2 pred. c. set TX-PDO 2 pred. c. set
RX-PDO 3 382 hex TX-PDO 3 38A hex
RX-PDO 4 383 hex TX-PDO 4 38B hex
RX-PDO 5 384 hex TX-PDO 5 38C hex
RX-PDO 6 385 hex TX-PDO 6 38D hex
RX-PDO 7 386 hex TX-PDO 7 38E hex
RX-PDO 8 387 hex TX-PDO 8 38F hex
Number Baud rate (kBit/s)
0 1000
1 500
2 250
3 125
4 100
5 50
6 20
7 10
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